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<a href="fcl__collision__requests_8cc.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * fcl_collision_requests.cpp</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Created on: May 25, 2018</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Author: Vitaliy Rusinov</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> */</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;</div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="fcl__collision__requests_8h.html">collision/solvers/fcl/fcl_collision_requests.h</a>&quot;</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="collision__checker_8h.html">collision/collision_checker.h</a>&quot;</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="fcl__helpers_8h.html">collision/solvers/fcl/fcl_helpers.h</a>&quot;</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#include &lt;utility&gt;</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;</div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacecollision.html">collision</a> {</div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="keyword">namespace </span>solvers {</div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="keyword">namespace </span>solverFCL {</div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;</div><div class="line"><a name="l00017"></a><span class="lineno"><a class="line" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_overlap.html#afcc050013e4e0e25cb31add053709be1">   17</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_overlap.html#afcc050013e4e0e25cb31add053709be1">CollisionRequestDataOverlap::addRequestResultPair</a>(<span class="keywordtype">int</span> o1, <span class="keywordtype">int</span> o2) {</div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;  <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_overlap.html#adeacb559b8e92e6d3c67134423ee85de">m_ResultPairs</a>.emplace(o1, o2);</div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;}</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;</div><div class="line"><a name="l00021"></a><span class="lineno"><a class="line" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_overlap.html#a5dcace2f797cc63e38ad778ae1c06dc1">   21</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_overlap.html#a5dcace2f797cc63e38ad778ae1c06dc1">CollisionRequestDataOverlap::addRequestResultList</a>(std::list&lt;int&gt; list1,</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;                                                       std::list&lt;int&gt; list2) {</div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> el1 : list1) {</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> el2 : list2) {</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;      <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_overlap.html#afcc050013e4e0e25cb31add053709be1">addRequestResultPair</a>(el1, el2);</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;    }</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;  }</div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;}</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;std::set&lt;std::pair&lt;int, int&gt;&gt;</div><div class="line"><a name="l00031"></a><span class="lineno"><a class="line" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_overlap.html#a66a1a35fa1422259035fb73065cd804c">   31</a></span>&#160;<a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_overlap.html#a66a1a35fa1422259035fb73065cd804c">CollisionRequestDataOverlap::getRequestResultPairs</a>()<span class="keyword"> const </span>{</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;  <span class="keywordflow">return</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_overlap.html#adeacb559b8e92e6d3c67134423ee85de">m_ResultPairs</a>;</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;}</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;</div><div class="line"><a name="l00035"></a><span class="lineno"><a class="line" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#a68052df11365a134b1b2ac718979c340">   35</a></span>&#160;<span class="keywordtype">bool</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#a68052df11365a134b1b2ac718979c340">CollisionRequestDataMultipleObstacles::testPair</a>(</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;    std::pair&lt;<a class="code" href="classfcl_1_1_collision_object.html">fcl::CollisionObject&lt;FCL_PRECISION&gt;</a> *,</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;              <a class="code" href="classfcl_1_1_collision_object.html">fcl::CollisionObject&lt;FCL_PRECISION&gt;</a> *&gt;</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;        pair) {</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;  <span class="keyword">auto</span> &amp;checked_pairs = <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#aea8f122d138436cd2a3ab90027d3923c">checkedPairs</a>;</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;  <span class="keyword">auto</span> search = checked_pairs.find(pair);</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;  <span class="keywordflow">if</span> (search != checked_pairs.end())</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;  checked_pairs.emplace(pair);</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;  <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;}</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;</div><div class="line"><a name="l00049"></a><span class="lineno"><a class="line" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#a9943c4502e5ab5e9410bc427616f1717">   49</a></span>&#160;<span class="keywordtype">bool</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#a9943c4502e5ab5e9410bc427616f1717">CollisionRequestDataMultipleObstacles::addRequestResultObstacleObject</a>(</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;    <a class="code" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> obj) {</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  <span class="comment">// todo: add a dedicated counter to optimize perfomance</span></div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  <span class="keywordflow">if</span> (<a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#a4627053305944ae47c2353c320405204">m_max_obstacles</a> &lt; 0) {</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#af91fe39a3266edbd68979bec065d5f91">m_obstacles</a>.push_back(obj);</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    <span class="keywordflow">if</span> ((<span class="keywordtype">int</span>)<a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#af91fe39a3266edbd68979bec065d5f91">m_obstacles</a>.size() &lt; <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#a4627053305944ae47c2353c320405204">m_max_obstacles</a>) {</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;      <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#af91fe39a3266edbd68979bec065d5f91">m_obstacles</a>.push_back(obj);</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    }</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    <span class="keywordflow">return</span> (<a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#af91fe39a3266edbd68979bec065d5f91">m_obstacles</a>.size() == <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#a4627053305944ae47c2353c320405204">m_max_obstacles</a>);</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  }</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;}</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;</div><div class="line"><a name="l00064"></a><span class="lineno"><a class="line" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#a9d50ef30918909309661a29113a99c3b">   64</a></span>&#160;<span class="keywordtype">bool</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#a9d50ef30918909309661a29113a99c3b">CollisionRequestDataMultipleObstacles::addRequestResultObstacle</a>(</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    <span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_object.html">CollisionObject</a> *obst) {</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;  <span class="comment">// todo: subject obstacles to a map, check which is a subject and add the</span></div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  <span class="comment">// parent todo: routine to test pair for belonging to a group which was</span></div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;  <span class="comment">// already added todo: different options of what to return: with ShapeGroups</span></div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  <span class="comment">// or raw objects - as a setting</span></div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  <span class="comment">// don&#39;t add the obstacle if already added</span></div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;  <span class="keyword">auto</span> already_added = <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#a85449ffab46bdfc734f5b5148f89a262">m_added_map</a>.find(obst);</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  <span class="keywordflow">if</span> (already_added == <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#a85449ffab46bdfc734f5b5148f89a262">m_added_map</a>.end()) {</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#a85449ffab46bdfc734f5b5148f89a262">m_added_map</a>.emplace(obst, <span class="keyword">true</span>);</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    <span class="keyword">auto</span> it = <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#a827371d8b466d06e2b70782196a89785">m_parent_map</a>.find(obst);</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    <span class="keywordflow">if</span> (it != <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#a827371d8b466d06e2b70782196a89785">m_parent_map</a>.end()) {</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;      <span class="keywordflow">if</span> (<a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#ae33df5e92f259912e648ef3415353f3c">m_ungroup_sg</a> &amp;&amp; <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#a0e7e1372fb1486c2434d2ed95ff196ad">m_ungroup_tvobst</a>) {</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;        <span class="keywordflow">if</span> (<a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#a9943c4502e5ab5e9410bc427616f1717">addRequestResultObstacleObject</a>(obst-&gt;shared_from_this()))</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;          <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;      } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;        <span class="keywordtype">bool</span> found_sg = <span class="keyword">false</span>;</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;        <span class="keywordtype">bool</span> found_tvobst = <span class="keyword">false</span>;</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;        <span class="comment">// find all entries corresponding to the obstacle (obstacle itself and</span></div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;        <span class="comment">// its parents in the CC)</span></div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;        <span class="keywordflow">for</span> (<span class="keyword">auto</span> &amp;member_obstacle : it-&gt;second) {</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;          <span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_object.html">CollisionObject</a> *memb_obst = member_obstacle.get();</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;          <span class="keyword">auto</span> already_added_parent = <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#a7293bf066387ca0ee33425842c5d81b9">m_added_map_parent</a>.find(memb_obst);</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;          <span class="keywordflow">if</span> (already_added_parent == <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#a7293bf066387ca0ee33425842c5d81b9">m_added_map_parent</a>.end()) {</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;            <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#a7293bf066387ca0ee33425842c5d81b9">m_added_map_parent</a>.emplace(memb_obst, <span class="keyword">true</span>);</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;</div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;            <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#aa90569f714d7d5ce0cbeb73fb19775e1">FCL_COLLISION_ENTITY_TYPE</a> memb_obst_entity_type =</div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;                <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a976460fe4920622d95f89d477c8f4ad8">get_object_fcl_entity_type</a>(memb_obst);</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;            <span class="keywordflow">switch</span> (memb_obst_entity_type) {</div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;            <span class="keywordflow">case</span> <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#aa90569f714d7d5ce0cbeb73fb19775e1a060426b2a428f4a72e0c2932396c6525">FCL_COLLISION_ENTITY_TYPE_TVOBJECT</a>:</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;              <span class="keywordflow">if</span> (!<a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#a0e7e1372fb1486c2434d2ed95ff196ad">m_ungroup_tvobst</a>) <span class="comment">// if registered tv obstacle parents should</span></div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;                                     <span class="comment">// be added as a group</span></div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;              {</div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;                <span class="keywordflow">if</span> (<a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#a9943c4502e5ab5e9410bc427616f1717">addRequestResultObstacleObject</a>(member_obstacle))</div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;                  <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;              } <span class="keywordflow">else</span> <span class="comment">// or as an individual object</span></div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;              {</div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;                found_tvobst = <span class="keyword">true</span>;</div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;              }</div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;              <span class="keywordflow">break</span>;</div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;            <span class="keywordflow">case</span> <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#aa90569f714d7d5ce0cbeb73fb19775e1a82fa9f19f853ece9b818085c437793c7">COLLISION_ENTITY_TYPE_FCL_OBJECTGROUP</a>:</div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;              <span class="keywordflow">if</span> (!<a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#ae33df5e92f259912e648ef3415353f3c">m_ungroup_sg</a>) {</div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;                <span class="keywordflow">if</span> (<a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#a9943c4502e5ab5e9410bc427616f1717">addRequestResultObstacleObject</a>(member_obstacle))</div><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;                  <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;              } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;                found_sg = <span class="keyword">true</span>;</div><div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;              }</div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;              <span class="keywordflow">break</span>;</div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;            <span class="keywordflow">default</span>:</div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;              <span class="keywordflow">if</span> (<a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#a9943c4502e5ab5e9410bc427616f1717">addRequestResultObstacleObject</a>(member_obstacle))</div><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;                <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;            }</div><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;          }</div><div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;        }</div><div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;        <span class="keywordflow">if</span> (found_sg || found_tvobst) {</div><div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;          <span class="keywordflow">if</span> (<a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#a9943c4502e5ab5e9410bc427616f1717">addRequestResultObstacleObject</a>(obst-&gt;shared_from_this()))</div><div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;            <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;        }</div><div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;      }</div><div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;</div><div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;    } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;      <span class="comment">// std::cout &lt;&lt; &quot;parent obj not found&quot;;</span></div><div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;<span class="preprocessor">#if ENABLE_COLLISION_TESTS</span></div><div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;<span class="comment">//          collision::test::log_parentmap_failure(obst-&gt;shared_from_this());</span></div><div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;    }</div><div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;  }</div><div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;  <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;}</div><div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;</div><div class="line"><a name="l00143"></a><span class="lineno"><a class="line" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_window_query.html#a477f109018386dea0c3c4992820d63e2">  143</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_window_query.html#a477f109018386dea0c3c4992820d63e2">CollisionRequestDataWindowQuery::addRequestResultObstacle</a>(</div><div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;    <span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_object.html">CollisionObject</a> *obst) {</div><div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;</div><div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;  <span class="keyword">auto</span> already_added = <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_window_query.html#a7b47e8b57acc91a490d9e7cd6c227a64">m_added_map</a>.find(obst);</div><div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;  <span class="keywordflow">if</span> (already_added == <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_window_query.html#a7b47e8b57acc91a490d9e7cd6c227a64">m_added_map</a>.end()) {</div><div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;    <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_window_query.html#a7b47e8b57acc91a490d9e7cd6c227a64">m_added_map</a>.emplace(obst, <span class="keyword">true</span>);</div><div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;    <span class="comment">// auto it = m_parent_map.find(obst);</span></div><div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;    <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_window_query.html#a6515a40d8b814e8d1b936a8bfe300571">m_result</a>.push_back(obst);</div><div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;    <span class="comment">// m_cc-&gt;addCollisionObject(obst-&gt;shared_from_this());</span></div><div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;    <span class="comment">// if( it != m_parent_map.end() )</span></div><div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;    <span class="comment">//{</span></div><div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;</div><div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;    <span class="comment">//  for(auto &amp;member_obstacle: it-&gt;second)</span></div><div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;    <span class="comment">//  {</span></div><div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;    <span class="comment">//      m_cc-&gt;addCollisionObject(member_obstacle);</span></div><div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;    <span class="comment">//  }</span></div><div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;    <span class="comment">//}</span></div><div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;  }</div><div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;}</div><div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;</div><div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;} <span class="comment">// namespace solverFCL</span></div><div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;} <span class="comment">// namespace solvers</span></div><div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;} <span class="comment">// namespace collision</span></div><div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_overlap_html_a5dcace2f797cc63e38ad778ae1c06dc1"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_overlap.html#a5dcace2f797cc63e38ad778ae1c06dc1">collision::solvers::solverFCL::CollisionRequestDataOverlap::addRequestResultList</a></div><div class="ttdeci">void addRequestResultList(std::list&lt; int &gt; list1, std::list&lt; int &gt; list2)</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8cc_source.html#l00021">fcl_collision_requests.cc:21</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_window_query_html_a7b47e8b57acc91a490d9e7cd6c227a64"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_window_query.html#a7b47e8b57acc91a490d9e7cd6c227a64">collision::solvers::solverFCL::CollisionRequestDataWindowQuery::m_added_map</a></div><div class="ttdeci">std::unordered_map&lt; const CollisionObject *, bool &gt; m_added_map</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8h_source.html#l00123">fcl_collision_requests.h:123</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_f_c_l_html_aa90569f714d7d5ce0cbeb73fb19775e1a82fa9f19f853ece9b818085c437793c7"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#aa90569f714d7d5ce0cbeb73fb19775e1a82fa9f19f853ece9b818085c437793c7">collision::solvers::solverFCL::COLLISION_ENTITY_TYPE_FCL_OBJECTGROUP</a></div><div class="ttdef"><b>Definition:</b> <a href="fcl__entity__type_8h_source.html#l00018">fcl_entity_type.h:18</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles_html_aea8f122d138436cd2a3ab90027d3923c"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#aea8f122d138436cd2a3ab90027d3923c">collision::solvers::solverFCL::CollisionRequestDataMultipleObstacles::checkedPairs</a></div><div class="ttdeci">std::set&lt; std::pair&lt; fcl::CollisionObject&lt; FCL_PRECISION &gt; *, fcl::CollisionObject&lt; FCL_PRECISION &gt; * &gt; &gt; checkedPairs</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8h_source.html#l00094">fcl_collision_requests.h:94</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_overlap_html_adeacb559b8e92e6d3c67134423ee85de"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_overlap.html#adeacb559b8e92e6d3c67134423ee85de">collision::solvers::solverFCL::CollisionRequestDataOverlap::m_ResultPairs</a></div><div class="ttdeci">std::set&lt; std::pair&lt; int, int &gt; &gt; m_ResultPairs</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8h_source.html#l00161">fcl_collision_requests.h:161</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles_html_af91fe39a3266edbd68979bec065d5f91"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#af91fe39a3266edbd68979bec065d5f91">collision::solvers::solverFCL::CollisionRequestDataMultipleObstacles::m_obstacles</a></div><div class="ttdeci">std::vector&lt; CollisionObjectConstPtr &gt; &amp; m_obstacles</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8h_source.html#l00085">fcl_collision_requests.h:85</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_f_c_l_html_aa90569f714d7d5ce0cbeb73fb19775e1"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#aa90569f714d7d5ce0cbeb73fb19775e1">collision::solvers::solverFCL::FCL_COLLISION_ENTITY_TYPE</a></div><div class="ttdeci">FCL_COLLISION_ENTITY_TYPE</div><div class="ttdef"><b>Definition:</b> <a href="fcl__entity__type_8h_source.html#l00014">fcl_entity_type.h:14</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles_html_a0e7e1372fb1486c2434d2ed95ff196ad"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#a0e7e1372fb1486c2434d2ed95ff196ad">collision::solvers::solverFCL::CollisionRequestDataMultipleObstacles::m_ungroup_tvobst</a></div><div class="ttdeci">bool m_ungroup_tvobst</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8h_source.html#l00096">fcl_collision_requests.h:96</a></div></div>
<div class="ttc" id="classfcl_1_1_collision_object_html"><div class="ttname"><a href="classfcl_1_1_collision_object.html">fcl::CollisionObject&lt; FCL_PRECISION &gt;</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles_html_ae33df5e92f259912e648ef3415353f3c"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#ae33df5e92f259912e648ef3415353f3c">collision::solvers::solverFCL::CollisionRequestDataMultipleObstacles::m_ungroup_sg</a></div><div class="ttdeci">bool m_ungroup_sg</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8h_source.html#l00097">fcl_collision_requests.h:97</a></div></div>
<div class="ttc" id="fcl__collision__requests_8h_html"><div class="ttname"><a href="fcl__collision__requests_8h.html">fcl_collision_requests.h</a></div></div>
<div class="ttc" id="namespacecollision_html_a405f2c04407997fea529aad88f04ad30"><div class="ttname"><a href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">collision::CollisionObjectConstPtr</a></div><div class="ttdeci">std::shared_ptr&lt; const CollisionObject &gt; CollisionObjectConstPtr</div><div class="ttdef"><b>Definition:</b> <a href="collision__object_8h_source.html#l00041">collision_object.h:41</a></div></div>
<div class="ttc" id="namespacecollision_html"><div class="ttname"><a href="namespacecollision.html">collision</a></div><div class="ttdef"><b>Definition:</b> <a href="collision__checker_8h_source.html#l00020">collision_checker.h:20</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles_html_a7293bf066387ca0ee33425842c5d81b9"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#a7293bf066387ca0ee33425842c5d81b9">collision::solvers::solverFCL::CollisionRequestDataMultipleObstacles::m_added_map_parent</a></div><div class="ttdeci">std::unordered_map&lt; const CollisionObject *, bool &gt; m_added_map_parent</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8h_source.html#l00091">fcl_collision_requests.h:91</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_window_query_html_a477f109018386dea0c3c4992820d63e2"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_window_query.html#a477f109018386dea0c3c4992820d63e2">collision::solvers::solverFCL::CollisionRequestDataWindowQuery::addRequestResultObstacle</a></div><div class="ttdeci">void addRequestResultObstacle(const CollisionObject *obst)</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8cc_source.html#l00143">fcl_collision_requests.cc:143</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_f_c_l_html_a976460fe4920622d95f89d477c8f4ad8"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a976460fe4920622d95f89d477c8f4ad8">collision::solvers::solverFCL::get_object_fcl_entity_type</a></div><div class="ttdeci">FCL_COLLISION_ENTITY_TYPE get_object_fcl_entity_type(const CollisionObject *obj2)</div><div class="ttdef"><b>Definition:</b> <a href="fcl__helpers_8h_source.html#l00014">fcl_helpers.h:14</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_f_c_l_html_aa90569f714d7d5ce0cbeb73fb19775e1a060426b2a428f4a72e0c2932396c6525"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#aa90569f714d7d5ce0cbeb73fb19775e1a060426b2a428f4a72e0c2932396c6525">collision::solvers::solverFCL::FCL_COLLISION_ENTITY_TYPE_TVOBJECT</a></div><div class="ttdef"><b>Definition:</b> <a href="fcl__entity__type_8h_source.html#l00019">fcl_entity_type.h:19</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles_html_a85449ffab46bdfc734f5b5148f89a262"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#a85449ffab46bdfc734f5b5148f89a262">collision::solvers::solverFCL::CollisionRequestDataMultipleObstacles::m_added_map</a></div><div class="ttdeci">std::unordered_map&lt; const CollisionObject *, bool &gt; m_added_map</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8h_source.html#l00090">fcl_collision_requests.h:90</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles_html_a9d50ef30918909309661a29113a99c3b"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#a9d50ef30918909309661a29113a99c3b">collision::solvers::solverFCL::CollisionRequestDataMultipleObstacles::addRequestResultObstacle</a></div><div class="ttdeci">bool addRequestResultObstacle(const CollisionObject *obst)</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8cc_source.html#l00064">fcl_collision_requests.cc:64</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles_html_a68052df11365a134b1b2ac718979c340"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#a68052df11365a134b1b2ac718979c340">collision::solvers::solverFCL::CollisionRequestDataMultipleObstacles::testPair</a></div><div class="ttdeci">bool testPair(std::pair&lt; fcl::CollisionObject&lt; FCL_PRECISION &gt; *, fcl::CollisionObject&lt; FCL_PRECISION &gt; * &gt; pair)</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8cc_source.html#l00035">fcl_collision_requests.cc:35</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles_html_a9943c4502e5ab5e9410bc427616f1717"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#a9943c4502e5ab5e9410bc427616f1717">collision::solvers::solverFCL::CollisionRequestDataMultipleObstacles::addRequestResultObstacleObject</a></div><div class="ttdeci">bool addRequestResultObstacleObject(CollisionObjectConstPtr obj)</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8cc_source.html#l00049">fcl_collision_requests.cc:49</a></div></div>
<div class="ttc" id="collision__checker_8h_html"><div class="ttname"><a href="collision__checker_8h.html">collision_checker.h</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_overlap_html_afcc050013e4e0e25cb31add053709be1"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_overlap.html#afcc050013e4e0e25cb31add053709be1">collision::solvers::solverFCL::CollisionRequestDataOverlap::addRequestResultPair</a></div><div class="ttdeci">void addRequestResultPair(int o1, int o2)</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8cc_source.html#l00017">fcl_collision_requests.cc:17</a></div></div>
<div class="ttc" id="fcl__helpers_8h_html"><div class="ttname"><a href="fcl__helpers_8h.html">fcl_helpers.h</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_window_query_html_a6515a40d8b814e8d1b936a8bfe300571"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_window_query.html#a6515a40d8b814e8d1b936a8bfe300571">collision::solvers::solverFCL::CollisionRequestDataWindowQuery::m_result</a></div><div class="ttdeci">std::vector&lt; const CollisionObject * &gt; &amp; m_result</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8h_source.html#l00120">fcl_collision_requests.h:120</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles_html_a827371d8b466d06e2b70782196a89785"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#a827371d8b466d06e2b70782196a89785">collision::solvers::solverFCL::CollisionRequestDataMultipleObstacles::m_parent_map</a></div><div class="ttdeci">const std::unordered_map&lt; const CollisionObject *, std::list&lt; CollisionObjectConstPtr &gt; &gt; &amp; m_parent_map</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8h_source.html#l00089">fcl_collision_requests.h:89</a></div></div>
<div class="ttc" id="classcollision_1_1_collision_object_html"><div class="ttname"><a href="classcollision_1_1_collision_object.html">collision::CollisionObject</a></div><div class="ttdoc">Base class for CollisionObjects and some of their groups.</div><div class="ttdef"><b>Definition:</b> <a href="collision__object_8h_source.html#l00047">collision_object.h:47</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_overlap_html_a66a1a35fa1422259035fb73065cd804c"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_overlap.html#a66a1a35fa1422259035fb73065cd804c">collision::solvers::solverFCL::CollisionRequestDataOverlap::getRequestResultPairs</a></div><div class="ttdeci">std::set&lt; std::pair&lt; int, int &gt; &gt; getRequestResultPairs() const</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8cc_source.html#l00031">fcl_collision_requests.cc:31</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles_html_a4627053305944ae47c2353c320405204"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#a4627053305944ae47c2353c320405204">collision::solvers::solverFCL::CollisionRequestDataMultipleObstacles::m_max_obstacles</a></div><div class="ttdeci">int m_max_obstacles</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8h_source.html#l00099">fcl_collision_requests.h:99</a></div></div>
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